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This paper develops a novel sequential Monte Carlo (SMC) approach for joint state and parameter estimation that can deal efficiently with abruptly changing parameters which is a common case when tracking maneuvering targets. The approach…
A centralized model predictive controller (MPC), which is unaware of local uncertainties, for an affine discrete time nonlinear system is presented. The local uncertainties are assumed to be matched, bounded and structured. In order to…
This letter considers cascaded model predictive control (MPC) as a computationally lightweight method for controlling a tandem-rotor helicopter. A traditional single MPC structure is split into separate outer and inner-loops. The outer-loop…
A common problem when using model predictive control (MPC) in practice is the satisfaction of safety specifications beyond the prediction horizon. While theoretical works have shown that safety can be guaranteed by enforcing a suitable…
There are two major challenges for scaling up robot navigation around dynamic obstacles: the complex interaction dynamics of the obstacles can be hard to model analytically, and the complexity of planning and control grows exponentially in…
Accurate day-ahead peak load forecasting is crucial not only for power dispatching but also has a great interest to investors and energy policy maker as well as government. Literature reveals that 1% error drop of forecast can reduce 10…
Many natural and manmade dynamical systems that are modeled as large nonlinear multi-oscillator systems like power systems are hard to analyze. For such a system, we propose a nonlinear modal decoupling (NMD) approach inversely constructing…
Neural operators have demonstrated promise in modeling and controlling systems governed by Partial Differential Equations (PDEs). Beyond PDEs, Stochastic Partial Differential Equations (SPDEs) play a critical role in modeling systems…
In this paper, we present a Model Predictive Control (MPC) framework based on path velocity decomposition paradigm for autonomous driving. The optimization underlying the MPC has a two layer structure wherein first, an appropriate path is…
A comprehensive approach addressing identification and control for learningbased Model Predictive Control (MPC) for linear systems is presented. The design technique yields a data-driven MPC law, based on a dataset collected from the…
We propose neural control variates (NCV) for unbiased variance reduction in parametric Monte Carlo integration. So far, the core challenge of applying the method of control variates has been finding a good approximation of the integrand…
The recently introduced energy-saving extension of the sub-optimal sliding mode control (SOSMC), which is known in the literature for the last two and half decades, incorporates a control-off mode that allows for saving energy during the…
In this paper, a neural network predictive controller (NNPC) is proposed to control a buck converter. Conventional controllers such as proportional integral (PI) or proportional integral derivative (PID) are designed based on the linearized…
In this paper, a novel dual-mode robust model predictive control (MPC) approach is proposed for solving the tracking control problem of non-holonomoic mobile robots with additive bounded disturbance. To reduce the negative effect of…
Integration of distributed energy resources has created a need for autonomous, dynamic voltage regulation. Decentralized Volt-VAr Control (VVC) of grid-connected inverters presents a unique opportunity for voltage management but, if…
A framework for the analysis of stochastic models of chemical systems for which the deterministic mean-field description is undergoing a saddle-node infinite period (SNIPER) bifurcation is presented. Such a bifurcation occurs for example in…
Robot navigation around humans can be a challenging problem since human movements are hard to predict. Stochastic model predictive control (MPC) can account for such uncertainties and approximately bound the probability of a collision to…
Model Predictive Control (MPC) offers a versatile framework for constraint handling and multi-objective optimisation, yet practical application faces challenges regarding initial and recursive feasibility, robustness against model…
We propose a robust adaptive Model Predictive Control (MPC) strategy with online set-based estimation for constrained linear systems with unknown parameters and bounded disturbances. A sample-based test applied to predicted trajectories is…
We provide theoretical convergence bounds for the variational Monte Carlo (VMC) method as applied to optimize neural network wave functions for the electronic structure problem. We study both the energy minimization phase and the supervised…